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\textbf{Abstract}
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This thesis present a method for limiting the movement of non-prismatic
robotic limbs, such that a point on the limb remains in a certain plane relative to another non-prismatic limb, while both limbs may move.  As an example of practical use, a partial telepresence system is presented, which will convey tactile information of the environment of the robot's hands to its human operator.

The robot used is a Aldebaran Nao robot with a URG-04LX Scanning Laser Rangefinder mounted on its head.  The operator controls each arm by moving an Android smartphone around.  A tactile model of the environment of both hands is made by the rangefinder, and presented to the user as vibration of the smartphones.  Because of kinematic limitations of the robot's 3D scanner, a method for keeping its hands in the rangefinder's scanning area is presented as well.

\textbf{Keywords:} inverse kinematics, telepresence, robotics, geometric algebra, Nao.
